Sheen, 46, who's kept a low profile this fall after plenty of highly-publicized drama earlier in the year, showed up in Calabasas, Calif. for Sam's soccer game, according to photographers.

"We're not in the best place right now," Richards, 40, said in April of her relationship with Sheen. "But I do still communicate with him."

Things certainly looked better on Sunday. The former couple wore sunglasses and smiles as they set up camp in the grass with their girls, armed with food, drink, and – by the looks of the pink stroller – perhaps Richards's adopted baby daughter Eloise.

The big sisters, who helped name their new sibling, "love having a little baby sister," a source previously told PEOPLE.